| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| size_categories: |
| - 10K<n<100K |
| --- |
| |
| # RealRobot push-blocks 🦾 |
|
|
| Real-world Franka FR3 cube-pushing demonstrations with language instructions, |
| collected by replaying simulated expert trajectories open-loop on hardware |
| rather than by teleoperation. Each real recording is paired with the simulated |
| trajectory that produced it, so the dataset also serves as a measurement of the |
| sim-to-real gap. |
|
|
| 📝 *A Sim-to-Real Integration Pipeline for Training and Deployment of |
| Chunk-Based VLA Manipulation Policies* (ISIR, Sorbonne Université / CNRS). |
| Pipeline source: <https://gitlab.isir.upmc.fr/kappel/sim2real_public_chunk_control/> |
|
|
| ## At a glance 👁️ |
|
|
| Example : `Push the red block left` |
|  |
|
|
| | | | |
| |---|---| |
| | Episodes | 200 (50 per task) | |
| | Frames | 11,267 | |
| | Episode length | 49–64 frames | |
| | Robot | Franka FR3, single arm | |
| | Camera | Orbbec Femto Bolt RGB, fixed, native 1000×1000 | |
| | Format | LeRobot v3.0 | |
|
|
| ## Tasks |
|
|
| Four language-conditioned combinations of two motions and two target objects: |
|
|
| - `Push the red block left` |
| - `Push the red block right` |
| - `Push the blue block left` |
| - `Push the blue block right` |
|
|
| The instruction string is stored per frame as the LeRobot `task` field. |
|
|
| ## Data fields |
|
|
| ### `observation.state` — shape `(6,)`, float32 |
|
|
| Absolute end-effector pose in the **robot base frame**, which is also the world |
| frame origin in both the simulated and real setups. |
|
|
| | index | name | meaning | |
| |---|---|---| |
| | 0–2 | `x, y, z` | end-effector position, metres | |
| | 3–5 | `rx, ry, rz` | end-effector orientation| |
|
|
| ### `action` — shape `(7,)`, float32 |
|
|
| End-effector **deltas**, not absolute poses. Applied cumulatively to the current |
| pose to obtain the next target frame. |
|
|
| | index | name | meaning | |
| |---|---|---| |
| | 0–2 | `dx, dy, dz` | translation increment, metres | |
| | 3–5 | `drx, dry, drz` | orientation increment, same convention as state | |
| | 6 | `gripper` | binary command| |
|
|
|
|
| ### `observation.images.static` — `(H, W, 3)` uint8, H.264 |
|
|
| Fixed third-person RGB view. Native capture is 1000×1000. |
|
|
| ## Loading |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| ds = LeRobotDataset("clemgris/RealRobot_push-blocks") |
| print(ds.num_episodes, ds.num_frames, ds.fps) |
| |
| sample = ds[0] |
| sample["observation.state"] # (6,) |
| sample["action"] # (7,) |
| sample["observation.images.static"] # (3, H, W) |
| sample["task"] # instruction string |
| ``` |
|
|
| ## Citation |
|
|
| ```bibtex |
| @misc{kappel2026sim2real, |
| title = {A Sim-to-Real Integration Pipeline for Training and Deployment |
| of Chunk-Based VLA Manipulation Policies}, |
| author = {Kappel, Mathilde and Grislain, Cl\'emence and Chetouani, Mohamed |
| and Sigaud, Olivier and Khoramshahi, Mahdi and Annabi, Louis |
| and Ben Amar, Fa\"iz and Doncieux, St\'ephane}, |
| year = {2026}, |
| } |
| ``` |
